#ifndef MONIPROVIDER_H
#define MONIPROVIDER_H

#include <QDebug>
#include "src/pubimp.h"
#include "src/Manager/ThreadPool.h"
#include "src/device/Camera/camerahelper.h"
#include "MU_ExpMessage.h"
#include "base/data_types.h"
#include "src/define/func_define.h"
#include "src/device/Robot/robothelper.h"

class MoniProvider
{
public:
    MoniProvider();


    // 生成格点容器
    // 0:起始点  1.Y长度  2.Z长度  3.Y运动长度  4.Z运动长度 5.变位机的参数  6.旋转矩阵 7.是否数据库中
    static GenPosVector GenRobotPos(RobotPos start,int len_Y,int len_Z,int target_Y,int target_Z,
                                    MachineArgs,DBIndex,RobotPos ror,bool isDB);

    // 简化过的方法，
    static GenPosVector GenRobotPos(RobotPos start,int len_Y,int len_Z,int target_Y,int target_Z,
                                    RobotPos ror);

    // 编辑优化pos
    static RobotPos  genPos(int y,int z ,RobotPos start_copy,RobotPos ror);
};

#endif // MONIPROVIDER_H
